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SCARA Robot Control System Design and Trajectory Planning: A Case Study

  • Conference paper
Advances in Electrical Engineering and Automation

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 139))

Abstract

This paper conducts the study to construct the control system and trajectory planning for SCARA robot, which is used to pick the biscuits from delivery belt and place on packing line. According to the practical action requirements, defined the desired path in Cartesian space, through calculating the right angle coordinate system of key points in inverse in joint space, choose the trapezoid acceleration curve for joint space trajectory planning, generating a feasible motion control track.

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References

  1. Ata, A.A.: Optimal Trajectory Planning for Manipulators: A Review. Journal of Engineering Science and Technology 2(1), 32–54 (2007)

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  2. Horne, B., Jamshidi, M., Vadiee, N.: Neural Networks in Robotics: A Survey. Journal of Intelligent and Robotic Systems 3, 51–66 (1990)

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  3. Alshamasin, M.S., Ionescu, F., Al-Kasasbeh, R.T.: Kinematic Modeling and Simulation of a SCARA Robot by Using Solid Dynamics and Verification by MATLAB/Simulink. European Journal of Scientific Research 37(3), 388–405 (2009)

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  4. Biagiotti, L., Melchiorri, C.: Trajectory Planning for Automatic Machines and Robots. Springer, Heidelberg (2008)

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  5. http://freespace.virgin.net/hugo.elias/models/m_ik.htm

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Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Donghua University, Shanghai, 201620, China

    Guangfeng Chen, Yi Yang, Linlin Zhai, Kun Zou & Yanzhu Yang

Authors
  1. Guangfeng Chen
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  2. Yi Yang
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  3. Linlin Zhai
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  4. Kun Zou
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  5. Yanzhu Yang
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Corresponding author

Correspondence to Guangfeng Chen .

Editor information

Editors and Affiliations

  1. Guangzhou Section of ISER Association, Jinheng Road, izhu District 144, Guangzhou, China, People's Republic

    Anne Xie

  2. Guangzhou Section of ISER Association, Jinheng Road, Haizhu District, Guangzhou, China, People's Republic

    Xiong Huang

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© 2012 Springer-Verlag GmbH Berlin Heidelberg

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Cite this paper

Chen, G., Yang, Y., Zhai, L., Zou, K., Yang, Y. (2012). SCARA Robot Control System Design and Trajectory Planning: A Case Study. In: Xie, A., Huang, X. (eds) Advances in Electrical Engineering and Automation. Advances in Intelligent and Soft Computing, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27951-5_26

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  • DOI: https://doi.org/10.1007/978-3-642-27951-5_26

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-27950-8

  • Online ISBN: 978-3-642-27951-5

  • eBook Packages: EngineeringEngineering (R0)

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